Object detection device

ABSTRACT

An object detecting device for detecting the existence and general placement of an object residing upon a surface. A preferred embodiment of the invention uses at least one laser measuring scanner operated positioned by a servo motor to allow the laser measuring scanner to generate signals related to the placement of an object on a surface. Those placement signals are then processed by a computer to make a two or three dimensional determination of the object in coordinates that show the object&#39;s location in relation to another device such as a robotic depalletizer that can then be moved into position near the object to allow removal of the object by the robotic depalletizer.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a divisional patent application of U.S.Nonprovisional patent application Ser. No. 12/217,926 filed Jul. 10,2008 which itself claims the benefit of Provisional Application Ser. No.61/004,454 filed on Nov. 27, 2007. Those patent applications areincorporated by reference herein in their entirety for all purposes andthis application claims the benefit of those applications for allapplicable purposes.

STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH

Not Applicable.

BACKGROUND OF THE INVENTION

This invention relates to an apparatus and method for detecting anobject, and more specifically to detection of an object or series ofobjects that are residing upon a pallet.

Certain types of business applications use various versions of machinevision to assist in the processes of design, manufacture, and shippingof many types of products. Use of such machine vision devices arehelpful in making all of those processes more efficient and accurate.

In recent years, automated devices have been found to be very effectivein the shipping of products, and in the palletizing and depalletizing ofvarious products during shipping. Utilization of various types ofautomated devices can result in very fast removal of objects from apallet or in very fast stacking of objects onto a pallet for shipping.However, the efficiency of such automated devices can depend directlyupon the proper execution of each step in the shipping process. Forexample, before a pallet of products can be shipped, the pallet shouldbe checked to ensure that the pallet is full and that the objects placedupon the pallet have been properly placed. In like manner, adepalletizer that removes objects from a pallet needs an accuratelocation definition of the objects in order to position the picking endeffecter of a robot for a successful pick and removing an object from apallet. Thus, incorrect placement of objects on a pallet that has beenloaded by automatic loading devices can result in damage to products,ineffective shipping, and reduced accuracy in the products beingshipped, while incorrectly identifying the placement of objects on asurface can result in failure to remove objects from a pallet and indamage of the objects.

Prior art machine vision devices require consistent ambient lighting andin many cases it requires extra flood lighting in order to detect thevariations between light and dark reflections. The rendered image frommachine vision is also two dimensional and requires intense computationto figure out even low tolerance dimensions and locations. As a result,machine vision works best when interacting in real time with movementsof the palletizer/depalletizer picking arm. This real time interactionusually requires the vision lens to be located near or even on the endeffecter. The added task of providing a clear field of view with themechanical equipment needed for picking being out of the way is oftendifficult.

Scanning and measuring with a remotely located laser measuring device(s)eliminates the need for lighting, end effecter lens mounting and realtime interaction with the robot arm. It also provides the ability toadjust the placement of the layer as well as the picking via the use ofa second layer measuring device if required.

SUMMARY OF THE INVENTION

In accordance with the various embodiments of the present invention, anew type of object detection device is disclosed wherein the objectdetection device examines objects that have been placed upon a surfaceto assist in providing data that can indicate whether the objects haveproperly and accurately been placed upon the surface and that can beused to assist in the robotic palletizing and depalletizing of objectsonto a pallet.

One example of the various embodiments of the present invention is theuse of laser imaging that allows an object detection device to determinewhether an object or set of objects have been is properly placed on asurface. This embodiment allows a depalletizer to properly andconsistently pick layers from an unknown source, and then consistentlyplace them onto another destination, without colliding with any part ofthe layer being picked, or the load being placed upon. The result is a“built” load that is square and plumb, even if the original donor loadwas not. The fact that the layer sensor(s) act independently of thedepalletizer allows this to occur faster and more reliably than if aprior art machine vision system was employed.

DESCRIPTION OF THE DRAWINGS

In the accompanying drawings which form part of the specification:

FIG. 1 is a perspective view of one embodiment of the present inventionshowing that embodiment in operation on a typical conveyor line.

FIG. 2 is a top view of one embodiment of the present invention.

FIG. 3 is a front view of one embodiment of the present invention.

FIG. 4 shows an example of the raw data obtained by the lasermeasurement scanner and one possible distillation of that raw data intooperable data for one embodiment of the present invention.

FIG. 5 shows a flow chart that is a general overview of the LayerSensing Process for one embodiment of the present invention.

FIG. 6 shows a flow chart of the Pick Location Layer Sensing Process forone embodiment of the present invention.

FIG. 7 shows a flow chart of the Place Location Layer Sensing Processfor one embodiment of the present invention.

FIG. 8 shows flow chart for the Dropped Case Detection Process for oneembodiment of the present invention.

FIG. 9 shows flow chart for the Layer Sensing Staging Process for oneembodiment of the present invention.

FIG. 10 shows a flow chart for the Layer Sensor Find Z Process for oneembodiment of the present invention.

FIG. 11 shows flow chart for the Layer Sensing Coordinate DecodingProcess for one embodiment of the present invention.

Corresponding reference numerals indicate corresponding steps or partsthroughout the several figures of the drawings.

While one embodiment of the present invention is illustrated in theabove referenced drawings and in the following description, it isunderstood that the embodiment shown is merely one example of a singlepreferred embodiment offered for the purpose of illustration only andthat various changes in construction may be resorted to in the course ofmanufacture in order that the present invention may be utilized to thebest advantage according to circumstances which may arise, without inany way departing from the spirit and intention of the presentinvention, which is to be limited only in accordance with the claimscontained herein.

DETAILED DESCRIPTION OF A PREFERRED EMBODIMENT OF THE INVENTION

A preferred embodiment of the object detecting device A of the presentinvention is illustrated in FIGS. 1 through 11. An example of thephysical configuration of a preferred embodiment of the presentinvention is shown in the drawings of FIGS. 1, 2, and 3. An example ofthe processes used within the preferred embodiment of the presentinvention are shown in FIGS. 5, 6, 7, 8, 9 10, and 11.

A preferred embodiment of the object detecting device A (FIG. 1)includes a laser measuring scanner 1, a linear actuator 2, and a layersensing controller 3). The laser measuring scanner 10 can be acommercially purchased 2D laser measuring scanner capable of emitting abeam of light in an angular sweep of between about 45 degrees and about90 degrees, taking measurements at between about 0.25 degree and about 2degree interval increments. At each interval increment, a distancemeasurement in millimeters can be obtained and transmitted to the layersensing controller 3. The linear actuator 2 can be vertically mountedand is repositioned by use of an actuator mechanism 6 that can be, forexample, a belt or screw type actuator. The linear actuator 2 can alsoinclude a servo motor driven to within +/−1 mm accuracy.

In a preferred embodiment, the linear actuator 2 has mounting pointswhich accommodate a mounting bracket 4 and a sensor element 5 of thelaser measuring scanner 1, thus allowing the sensor 5 to be raised andlowered as necessary throughout the operation of the object detectingdevice A.

The layer sensing controller 3 can be either a PLC or PC that interfaceswith the laser measuring scanner 1 via an RS232/RS422/Ethernetconnection. This layer sensing controller 3 receives and decodes the rawdata from the laser measure scanner 1 and uses that data to determinethe key coordinate points necessary for picking and/or placement ofobjects. These coordinate points are processed and communicated to thedepalletizer (not shown).

In this embodiment, the object detecting device A includes a lasermeasuring scanner 1 that is mounted on a vertically positioned linearactuator 2. In general terms, the object detecting device A generallyoperates the linear actuator 2 is driven by a servo drive 6 and willlower the laser measuring scanner 1 from a predetermined position untilthe laser measuring scanner 1 detects a top layer 7 of a load 8. Thelaser measuring scanner 1 continues traveling downward for apredetermined distance and comes to a stop on the linear actuator 2. Thelaser measuring scanner 1 then sends out a laser beam 9 in an arc alonga horizontal plane in the general vicinity of the top layer 7 of theload 8. This laser beam 9 detects the distance to an object atpredetermined intervals within the arc sweep. In this preferredembodiment of the present invention, the object to be detected is a toplayer 7.

This detection method determines the location of three corners of thetop layer 7. The length, width, and center of the top layer 7 can thenbe determined from the corner locations. The length, width, and center,and top of the top layer 7 elevation are then transmitted to thedepalletizer (not shown) to use to pick the top layer 7.

In an alternative embodiment, a second, similar laser measuring scanner1 can be used in similar manner at the location where the top layer 7 isto be relocated by the depalletizer. The operation of the second lasermeasuring scanner 1 can be used to assist in the proper placement of thetop layer 7 at a new location. The length, width, center, and top of thetop layer 7 at the new location are generally obtained via the samemethod described above. These coordinates are can be provided to thedepalletizer to allow the depalletizer to properly place the removed toplayer 7 from its original location on the top of the load 8 to the newlocation.

In this embodiment, the depalletizer signals the layer sensingcontroller 3 that the top layer 7 has been removed from the load 8. Thelaser measuring scanner 1 then sends out the laser beam 9 in an arc toverify that no objects remain on the load 8 and that the top layer 7 hasbeen completely removed from the load 8. If any object is still detectedon the load 8 where the top layer 7 was residing, an error message issent to the operator of the object detecting device A. The operator thenmanually intervenes to correct the situation. If the laser measuringscanner 1 verifies that the entire top layer 7 has been removedcompletely from the load 8, the depalletizer can then be allowed tocomplete its cycle. After the depalletizer completes its cycle, thelaser measuring scanner 1 is then lowered by the linear actuator 2 untilthe laser measuring scanner 1 senses the next top layer 7 that is at thenext level on the top of the load 8. The object detecting device A thendetermines the location of the next top layer 7 generally as describedabove after which the depalletizing process is repeated, also asgenerally described above.

If the top layer 7 of a load 8 is a partial layer, the object detectingdevice A will detect and generally identify data points thatsubstantially correspond to locations outside a set of allowable limitsthen generally define the data points that correspond to the expectedlocation of the top layer 7. If this condition is found to exist, theelevation of the partial top layer 7 is noted and the laser measuringscanner 1 is lowered to allow it to sense the second layer 10 in orderto calculate the center of second layer.

Operation

The operation of a preferred embodiment of the object detecting device Ais described more specifically below.

Picking Process Layer Sensing

The action of identifying, locating, and removing the top layer 7 fromthe load 8 is generally identified herein as the “picking process” andthe removal of the top layer 7 is generally identified herein as the“picking” of the top layer.

In the picking process, the laser measuring scanner 1 is mounted suchthat it is capable of viewing the load 8 at an angle of about 45 degreesto a pallet of generally rectangular shaped objects. More specifically,in this embodiment the laser measuring scanner 1 is positioned to viewthe corner of the rectangular objects. It is understood that while thepresent embodiment positions the laser measuring scanner 1 at about a 45degree angle to the objects, in other embodiments the laser measuringscanner can be located at any other angle to the objects as long as theangle has been communicated to the laser controller 3 to allow the lasercontroller to use the actual angle in the laser controller'sdetermination of the spatial coordinates of the objects.

When a new load 8 begins entering the picking location, the objectdetecting device A positions the laser measuring scanner 1 at a staginglocation just above the top layer 7 of the load 8. This action occurs atabout the time the new load enters into the sensing location area.

After the new load 8 is in position to be sensed by the object detectingdevice A, the laser measuring scanner 1 is activated and the linearactuator 2 begins moving the laser measuring scanner 1 downward until itdetects the top layer 7 of the load 8. The linear actuator 2 thencontinues moving the laser measuring scanner 1 downward a certaindistance before stopping. The laser beam 9 of the laser measuringscanner 1 is then activated and the top layer 7 of the load 8 isscanned. The results of the scan are communicated from the lasermeasuring scanner 1 to the layer sensing controller 3. The layer sensingcontroller 3 uses this data to determine the location of the threecorners of the top layer 7 (FIG. 1) that has been scanned by the laserbeam 9 of the laser measuring scanner 1.

When the raw scanning data for the corners of the top layer 7 to bepicked are collected, the layer sensor controller 3 uses the rawscanning data to determine the length, width, and orientation of the toplayer 7. From these results, the layer sensing controller calculates 3can determine a center point of the top of the top layer 7 to be pickedwithin an XYZ coordinate space. This “true” center point is comparedagainst the “ideal” center point that can be defined during an originalcalibration process wherein the object detecting device A is spatiallyoriented in relation to the depalletizer. The difference between the“true” center point X, Y, and Z values of the scanned top layer 7 andthe “ideal” center point of the top layer 6 is then determined, and thatinformation can be used to calculate the amount of adjustment needed tothe actions of the depalletizer to allow the depalletizer to properlycenter the depalletizer tool on the top layer 7 to be picked from theload 8.

When these calculations are substantially complete, a check is performedagainst all data points obtained during the process of scanning the toplayer 7. This check is made to verify that data points do not falloutside the physical limits of the general operation of thedepalletizer. This check is also made to ensure that the depalletizerdoes not collide with any part of the top layer 7 during the pickingprocess. If this check shows errors that indicate a potential for acollision between the depalletizer and the top layer 7, a faultcondition can be communicated to the operator to allow the operator tointervene to remedy the error. If the check determines there are no suchcollision errors, the layer sensing controller 3 communicates thenecessary spatial adjustments, as well as the angle of rotation of thetop layer 7 as determined by the layer sensing controller 3, to thedepalletizer. This is done so that the depalletizer can adjust itselfaccordingly during the picking process. The desired result is a pickedlayer which is perfectly centered and plumb within the depalletizertool.

Dropped Pick Detection

After a top layer 7 is picked from the load 8, the object detectiondevice A checks the load 8 in a manner similar to that described aboveto verify that no objects from the top layer 7 were left behind on theload 8. If no objects from the top layer 7 remain on the load 8, thedepalletizer is permitted to place the top layer 7 at its new location.However, if an object from the top layer 7 remains on the load 8 afterthe depalletizer has attempted to remove the top layer 7 from the load8, a fault condition is communicated to the operator who can interveneto correct the situation.

Place Process Layer Staging

In a preferred embodiment, a second laser measuring scanner (1A) (notshown) can be located near a second location where the depalletizer hasbeen instructed to place the top layer 7 from the load 8. As noted abovefor the first laser measuring scanner 1, the second laser measuringscanner 1A is mounted such that it views the new load 8A beingconstructed by the depalletizer at the second location as the top layer7 from the first location is moved and placed at the second location bythe depalletizer. The second laser measuring scanner 1A is mounted suchthat it views the new load 8A at an angle of about 45 degree, or atanother predetermined angle.

While this embodiment include the use and placement of a second lasermeasuring scanner 1A, it will be appreciated by those skilled in the artthat in alternative embodiments, the first laser measuring scanner 1 canalso be used to detect the position of the new load 8A. In thatconfiguration, the laser measuring scanner 1 may be rotated on ahorizontal plane such that the laser measuring scanner 1 is rotated topoint away from the load 8 and toward the second load 8A.

In yet other embodiments, several laser measuring scanners 1 may beused. In such embodiments, the laser controller 3 would accept thesignals from the first laser measuring scanner 1, the second lasermeasuring scanner 1A, and any number of laser measuring scanners 1. Thelaser controller 3 in that embodiment could then process those signalsto detect substantially all locations and characteristics of the toplayers 7 as those top layers are positioned and repositioned at variouslocations.

In these other embodiments, it understood that after each top layer 7 isplaced at any location, the laser measuring scanner 1 for that locationcan be repositioned at an elevation just above the placed top layer.Once staged above the placed top layer 7, the laser measuring scanner 1can be activated and the linear actuator 2 begins indexing the lasermeasuring scanner 1 downward until it detects the top layer 7 of theload 8. The linear actuator 2 then continues moving the laser measuringscanner 1 downward a certain distance before stopping. This puts thelaser measuring scanner 1 in the proper location to scan the last placedtop layer 7 so that the next top layer 7 to be placed at the newlocation can be properly centered above the previously placed top layer7.

Then, as generally disclosed in the other embodiments described above,when the laser measuring scanner 1 is stopped, the sensor element 5 ofthe laser measuring scanner 1 is activated and the load 8 is scanned bythe laser beam 9. The data from the scan are communicated from thesensor element 5 to the layer sensing controller 3 when the scan iscomplete. The layer sensing controller 3 uses this data to determine thelocation of the three corners of the top layer 7 visible to the sensorelement 5.

When the locations of the corners of the top layer 7 on the “place”location are determined, the layer sensing controller 3 determines thelength, width, and rotation of the surface of a previously “placed” toplayer 7 upon which the next “picked” top layer 7 will be placed. Fromthis determination, the layer sensing controller 3 determines a centerpoint of the top layer 7 of the load 8 to be placed upon within an XYZcoordinate space. This center point is compared against the center pointof the top layer 7 of the depalletizer as the top layer was picked. Thedifferences between the “place” location center point X, Y, and Z valueswith those similar values in the depalletizer are provided to thedepalletizer so that the picked top layer 7 can be properly centered onthe “place” location load.

It is understood that this comparison of the “place” coordinates is madeagainst the “actual” location of the top layer 7 center point within thedepalletizer as it was picked—not the “ideal” location. This is becausemechanical limits may not always permit the top layer 7 to be properlycentered inside the depalletizer during the “pick” process. By comparingthe “place” location center point to the “actual” resulting locationwithin the palletizer and not the “ideal” location, the layer sensorcontroller 3 can determine the proper adjustments necessary to centerthe picked top layer 7 at the “place” location. For example, if a toplayer 7 being picked needs a +50 mm X adjustment, but mechanical limitsprohibit exceeding +40 mm X at the pick position, the top layer would bepicked with +40 mm X, resulting in a top layer 7 that is not exactlycentered within the picking tool of the depalletizer. Comparing theplace location with this actual location of the top layer 7 within thedepalletizer tool eliminates the potential 10 mm of error that wouldhave resulted from comparing against an assumed centered top layer 7.

It is understood that there are a number of processes that shouldgenerally be executed within the various embodiments of the objectdetecting device A disclosed herein. FIG. 7 through FIG. 11 illustratethe processes that may be used in a preferred embodiment of the presentinvention.

In another alternative embodiment (not shown), another type of lasermeasuring scanner can be positioned near the object to be detected suchthat the location coordinates of the object to be detected can be usedto graph the object in substantially a three dimensional manner. Forexample, in this alternative embodiment, an alternative laser measuringscanner is used that is not only capable of sweeping its laser beam in asweep of between about 45 degrees and about 90 degrees to identify thetwo dimensional coordinates of the object to be detected, thealternative laser measuring scanner is also capable of controlling thelaser beam in a raster-like fashion so at to detect a third dimensionalset of coordinates for the object to be detected. Thus, it isappreciated by those of skill in the art that the sweeping action of thelaser beam of the alternative laser measuring device, when coupled withthe raster-like action of the laser beam, can provide a set of threedimensional coordinates related to the object to be detected which canthen be used to generate a three dimensional graph of the object to bedetected. Then, this three dimensional graph can be analyzed by thelaser sensor controller 3 to determine if the object to be detectedmeets a predetermined set of values that show the object to be detectedis satisfactorily loaded. It is understood that in this alternativeembodiment, the alternative laser measuring device is preferably fixedlypositioned above the level of the object to be detected or in any othergeneral location as long as the laser beam from the alternative lasermeasuring scanner can substantially scan at least three surfaces of theobject to be detected. In yet other embodiments, the laser measuringscanner can be adjustably located above the object to be detected. It isalso understood that those skilled in the art can adapt the processesshown in FIGS. 5-11 to generate three dimensional coordinates ratherthat the set of two dimensional coordinates of a preferred embodimentdescribed above. In certain versions of the present alternativeembodiment, there is no need for the linear actuator 2.

While the above description describes various embodiments of the presentinvention, it will be clear that the present invention may be otherwiseeasily adapted to fit any configuration where an object detecting deviceis required. Additionally, as various changes could be made in the aboveconstructions without departing from the scope of the invention, it isalso intended that all matter contained in the above description orshown in the accompanying drawings shall be interpreted as illustrativeand not in a limiting sense. The scope of the invention should bedetermined by the appended claims and their legal equivalents, ratherthan by the examples given.

1. An object detection device comprising: a laser measuring scannermovably disposed on a linear actuator wherein the laser measuringscanner is capable of emitting and detecting a laser beam within anangular sweep that includes an angle of between about 45 degrees andabout 90 degrees, wherein the laser measuring scanner is capable oftaking a plurality of linear distance measurements taken at incrementintervals of between about 0.25 degrees and about 2 degrees within theangular sweep, and wherein the laser measuring scanner is also capableof communicating at least one signal containing data associated with thelaser beam; and a layer sensing controller capable of accepting the atleast one signal communicated from the laser measuring scanner whereinthe layer sensing controller uses the at least one signal to determine aset of coordinates of an object being detected that is within a rangeand scope of the laser beam, wherein the linear actuator is verticallymounted and wherein the linear actuator is repositioned by an actuatormechanism that comprises at least one of either a belt actuator or ascrew type actuator, wherein the linear actuator includes a servo motordriven to within +/−1 mm linear accuracy, and wherein the linearactuator has mounting points which accommodate a mounting bracket and asensor for the laser measuring scanner that allow the sensor to bepositioned and repositioned in relation to the object being detected. 2.The object detecting device of claim 1 wherein the linear actuator isdriven by the actuator mechanism to reposition the laser measuringscanner until the laser measuring scanner detects the object to bedetected.
 3. The object detecting device of claim 2 wherein the objectto be detected is a load that includes a pallet of generallyrectangular-shaped objects and the laser measuring scanner is mountedsuch that it is capable of viewing the load at an angle of about 45degrees in relation to at least one straight edge of the generallyrectangular-shaped objects.
 4. The object detecting device of claim 3wherein the layer sensing controller receives and decodes at least oneset of data from the laser measuring scanner and uses that set of datato determine a set of coordinate points related to related to thelocation of a top layer of the load and wherein the set of coordinatepoints are communicated to a depalletizer.
 5. The object detectingdevice of claim 4 wherein the set of coordinate points are compared toan ideal center point of the top layer and that comparison is used todetermine the amount of any adjustments needed to allow the depalletizerto properly center a depalletizer tool of the depalletizer in relationto the top layer to be picked from the load.
 6. The object detectingdevice of claim 5 wherein the set of coordinate points is reviewed toverify that the set of coordinate points does not fall outside thephysical operational limits of the depalletizer.
 7. The object detectingdevice of claim 6 further comprising a review of the set of coordinatepoints to verify that the depalletizer does not collide with any part ofthe top layer during a picking action of the depalletizer and wherein afault condition is communicated to an operator of the depalletizer ifthe review of the set of coordinate points suggests a potential for acollision between a portion of the depalletizer and the top layer. 8.The object detecting device of claim 7 wherein the layer sensingcontroller communicates to the palletizer a set of spatial adjustmentsand an angle of rotation of the top layer to the depalletizer.
 9. Theobject detecting device of claim 8 wherein after the laser measuringscanner detects the top layer of the load, the laser measuring scanneris repositioned on the linear actuator to a predetermined distance andcauses a laser beam to be emitted in a generally arc-shaped scan along ahorizontal plane to detect a set of distances between the lasermeasuring scanner and the object to be detected.
 10. The objectdetecting device of claim 9 further comprising a detection method thatdetermines the location of at least three corners of the top layer, aswell as at least one of either a length, a width, a height, and a centerof the top layer, and wherein the length, the width, the height, and thecenter, and a top of the top layer elevation are transmitted to thedepalletizer.
 11. The object detecting device of claim 10 furthercomprising a second laser measuring scanner and a second linear actuatordriven by a second actuator mechanism to position the second lasermeasuring scanner from a set first position until the second lasermeasuring scanner detects a second top layer of a second load that hasbeen placed at a second location, wherein after the second lasermeasuring scanner detects the second top layer of the second load, thesecond laser measuring scanner is repositioned a predetermined distance,wherein after traveling the predetermined distance, the second lasermeasuring scanner causes a second laser beam to be emitted in agenerally arc-shaped scan along a horizontal plane to detect a set ofdistances between the second laser measuring scanner and an object to bedetected at the second location, wherein a detection method determinesthe location of at least three corners of the second top layer tothereby locate at least one of either a second length, a second width, asecond height, and a second center of the second top layer of the objectto be detected at the second location, and wherein the second length,the second width, the second height, and the second center, and a secondtop elevation of the top layer of the second top layer at the secondlocation are transmitted to the depalletizer.
 12. The object detectingdevice of claim 10 wherein the second laser measuring scanner is alsothe first laser measuring scanner, the second linear actuator is alsothe first linear actuator, and the second actuator mechanism is also thefirst actuator mechanism.
 13. The object detecting device of claim 10wherein the depalletizer removes the top layer from the load at thefirst location after which the second laser measuring scanner causes thelaser beam to be emitted in a generally arc-shaped scan to verify thatno object remains on the load and that the top layer has been completelyremoved from the load, and wherein an error message is sent to anoperator of the object detecting device if the top layer has not beencompletely removed from the load after the depalletizer has attempted toremove the top layer from the load.
 14. The object detecting device ofclaim 13 wherein after the depalletizer has attempted to remove the toplayer from the load and the object detecting device has verified that noobject from the top layer remains on the load, the laser measuringscanner is then repositioned until the laser measuring scanner senses anext top layer that is at a next level on the top of the load.
 15. Theobject detecting device of claim 14 wherein if the top layer of the loadis a partial top layer, the object detecting device will detect andgenerally identify any location data points related to the partial toplayer that generally correspond to any locations of the partial toplayer that are outside a set of allowable limits that generally define apredetermined set of location data points corresponding to an expectedlocation of the top layer, and wherein if any location data points ofthe partial top layer that are outside the set of allowable limits thatgenerally define the preset set of location data points corresponding tothe expected location of the top layer, an elevation of the partial toplayer is noted and the laser measuring scanner is lowered to allow it tosense the next top layer in order to determine the center of second toplayer.
 16. The object detecting device of claim 15 wherein after the toplayer is picked from the load, the object detection device verifies thatno objects from the top layer were left behind on the load and that ifno objects from the top layer were left behind on the load, thedepalletizer is permitted to place the top layer at a second location,and wherein a fault condition is communicated to the operator if anobject from the top layer was left behind on the load after thedepalletizer has attempted to remove the top layer from the load. 17.The object detecting device of claim 16 wherein the laser measuringdevice is capable of emitting a raster-like laser beam that can be usedto detect a set of three dimensional coordinates related to the positionof the object to be detected.
 18. The object detecting device of claim 1wherein the layer sensing controller is one of either a programmablelogistical controller or a personal computer that interfaces with thelaser measuring scanner via an RS232/RS422/Ethernet connection.